YASKAWA SVC User Manual page 190

5.
Set OW08 to 0 to execute the NOP motion command.
This concludes interpolation positioning.
Operating Patterns
The following figure shows the operating pattern when the LATCH command is executed.
Speed (%)
Position
0
Latch signal
Positioning completed
POSCOMP
Holding and Canceling Commands
The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Change the motion command to stop an interpolation operation.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Name
Address

OW 00
Servo ON
Bit 0

OW 02 Stop Mode Selec-
Bit 8 to F tion

OW 03 Function Settings 1

OW 04 Latch Signal Selec-
Bit 0 to 3 tion

OW 08 Motion Commands

OW 09 Position Reference
Bit 5 Type
Torque/Force Refer-
ence Setting or

OL 0C
Torque Feedfor-
ward Compensation

OW 12 Speed Limit

OL 14 Torque/Force Limit
Position Reference

OL 1C
Setting
This position is reported in
IL 18.
Time (t)
range
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 6 (LATCH).
0: Servo OFF, 1: Servo ON
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration Time
Constant parameter
1: Stop immediately
Select the speed unit, acceleration/deceleration unit, and filter type.
Select the latch signal.
Positioning is started when this parameter is set to 6 (LATCH).
Set the position reference type.
Set this bit before setting OW08 to 6 (LATCH).
0: Incremental value addition method
1: Absolute value specification method
Set the torque feedforward amount during interpolation positioning.
Set the upper speed limit as a percentage of the rated speed. This value
is an absolute value. It is used in both the forward and reverse direc-
tions.
Set the torque limit for interpolation positioning.
Set the target position for positioning. This parameter is updated every
high-speed scan.
4.2 Motion Command Details
4.2.5 LATCH (Latch)
Setting Details
Continued on next page.
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